REG: Vision System for Real-Time Control of a Robotic Manipulation

伊利诺伊大学香槟分校的协调科学实验室将购买设备，以支持基于实时视觉的机器人自适应控制的研究。该设备由摄像机、视觉系统和计算机工作站组成，将与直接驱动机械手接口，用于旨在提高自适应机器人控制健壮性的研究项目。该项目将寻求通过自适应机器人控制的理论和实验研究，量化由于外部干扰和未建模动力学而在实时自适应视觉反馈中可能出现的各种不稳定现象。需要研究的现象包括慢参数漂移不稳定、快速适应不稳定、突发等。最终目标是使机器人的自适应控制具有高度的健壮性，因此从工程角度来看是可行的。

The Coordinated Science Laboratory at the University of Illinois- Champaign will purchase equipment to support research in real- time vision based adaptive control of robotic manipulators. The equipment, consisting of a camera, vision system, and computer workstation, will be interfaced to a direct-drive manipulator for use in research projects aimed at improving the robustness of adaptive robot control. The project will seek to quantify, through theoretical and experimental investigation of adaptive robot control, various instability phenomena that may arise in real-time adaptive vision feedback as a result of external disturbances and unmodeled dynamics. Among the phenomena to be studied are slow parameter drift instabilities, fast adaptation instabilities, bursting, and more. The ultimate goal is to make adaptive control of robots highly robust and therefore practical from an engineering standpoint.*** //